CN108736786A - The control device of motor - Google Patents
The control device of motor Download PDFInfo
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- CN108736786A CN108736786A CN201810311386.6A CN201810311386A CN108736786A CN 108736786 A CN108736786 A CN 108736786A CN 201810311386 A CN201810311386 A CN 201810311386A CN 108736786 A CN108736786 A CN 108736786A
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- shaft currents
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
Abstract
The present invention provides the control device of the motor for the influence that can more properly mitigate aliasing.In the control device of motor (101), three-phase/two-phase converter section (203) exports N number of d shaft currents value and N number of q shaft currents value in the measurement period of each 1/N times (integer that wherein N is 2 or more) as carrier cycle.Average value operational part (204) calculates their average value.The difference that calculus of differences portion (205) calculates the average value of k-th of d shaft currents value and d shaft current values is used as d shaft current difference, and the difference for calculating the average value of k-th of q shaft currents value and q shaft current values is used as q shaft current difference.It is filtered portion (206) and low-pass filtering treatment is implemented to each difference, export d shaft currents corrected value and q shaft current corrected values.Correction calculation section (207) carries out the linear operation of k-th of each current value and each current correction values, and each current value of correction is completed in output.
Description
Technical field
The present invention relates to the control devices of motor, more particularly to carry out current feedback control to having the motor of inverter
The control device of system.
Background technology
In the control device of currently known motor, three between motor and inverter are detected using various sensors
The current value of phase line and the rotor rotation position of motor, and implement Current Feedback Control in a manner of following target torque.This
When, control device controls inverter by PWM controls, and Current Feedback Control is controlled using vector control method.
When using vector control method, three-phase current that the current sensor of the three-phase alternating current side by being set to inverter is detected
Value is converted to d shaft currents and q shaft currents in the rotating coordinate system synchronous with the rotor rotation position of motor.
It is known in microcomputer etc. according to the specific period come when detecting three-phase electricity flow valuve, if being superimposed on the motor of three-phase current
Fundamental frequency harmonic component (such as 5 times, 7 times, 11 times, 13 times, 17 times, it is 19 inferior) it is consistent with detection cycle, then examine
Aliasing can occur in the current value measured.
In this regard, with increase current detecting number, come mitigate aliasing influence method (such as patent document 1).Specially
In technology recorded in sharp document 1, by multiple electric currents that 1/2 doubling time with carrier cycle and carrier cycle is detected into
Row is average, to reappear by the actual current value before aliazing effect.
Existing technical literature
Patent document
Patent document 1：No. 5252229 bulletins of Japanese Patent No.
Invention content
The technical problems to be solved by the invention
However, the prior art has following problem, i.e.,：Sometimes it can not mitigate the influence of aliasing.
For example, in the technology of patent document 1, the average value of electric current can be acquired, but only answered control if average value
With influence limited, therefore that aliasing can not be mitigated sometimes.
The present invention completes to release above-described problem, can more properly mitigate it is intended that offer is a kind of
The control device of the motor of the influence of aliasing.
Technical scheme applied to solve the technical problem
The control device of motor according to the present invention includes：Drive control part, the drive control part pass through control pair
The inverter that motor is powered, to control the driving of motor；Rotation angle detection sensor, the rotation angle detection sensor
Rotation position for detecting motor；And current detection sensor, the current detection sensor for being examined respectively by three-phase
Survey the current value by the electric current of motor, wherein drive control part includes：Current control unit, the current control unit carry out anti-
Feedback control so that the current value detected follows current instruction value；Information storage part, information storage part storage and inverter
The 1st equal controlling cycle of switch periods, that is, carrier cycle and 1/N times of the 2nd controlling cycle as the 1st controlling cycle, wherein
The integer that N is 2 or more；Control unit is measured, which obtains the three-phase electricity flow valuve of inverter in each 2nd controlling cycle
And the rotation position of motor；And current processing portion, the current processing portion carry out and the relevant operation of current value, current processing
Portion includes：Three-phase/two-phase converter section, the three-phase/two-phase converter section are continuous N number of to being got in each 2nd controlling cycle
Three-phase electricity flow valuve and rotation position carry out three-phase/two-phase conversion, export N number of d shaft currents value and N number of q shaft currents value；Average value is transported
Calculation portion, the average value operational part calculate the average value of N number of d shaft currents value and the average value of N number of q shaft currents value；Calculus of differences portion,
The calculus of differences portion calculates k-th of the d axis electricity arrived in timing acquisition corresponding with the 1st controlling cycle in N number of d shaft currents value
The difference of the average value of flow valuve and d shaft current values is used as d shaft current difference, and calculates k-th of q in N number of q shaft currents value
The difference of the average value of shaft current value and q shaft current values, is used as q shaft current difference, and wherein k is the integer for meeting 1≤k≤N；
It is filtered portion, this is filtered portion and implements low-pass filtering treatment to d shaft currents difference and q shaft current difference, exports d axis
Current correction values and q shaft current corrected values；And correction calculation section, the correction calculation section carry out k-th of d shaft currents value and d axis
The linear operation of current correction values, the d shaft current values of correction are completed in output, and carry out k-th of q shaft currents value and q shaft currents
The q shaft current values of correction are completed in the linear operation of corrected value, output.
According to specific mode, drive control part further includes PWM control method selectors, and the PWM control method selectors are to inverse
Become device to carry out PWM controls and control motor, current control unit is controlled according to the control of PWM control method selectors.
According to specific mode, PWM control methods selector is according to the number of the carrier cycle of each primitive period of motor
N is calculated at least one party in the rotating speed of motor.
According to specific mode, the response of low-pass filtering treatment is lower than the response of current control unit.
Invention effect
According to the control device of motor according to the present invention, it can more properly mitigate the influence of aliasing.
Description of the drawings
Fig. 1 is the general block diagram for the structure for indicating the drive dynamic control device comprising the motor involved by embodiment of the present invention 1.
Fig. 2 is the block diagram of the structure in the current processing portion for indicating Fig. 1 in more detail.
Fig. 3 is to indicate that electric current/rotary transformer angle acquisition unit of Fig. 2 obtains the figure of the acquisition timing of measured value.
Fig. 4 is to indicate the d shaft currents obtained by carrier cycle by electric current/rotary transformer angle acquisition unit of Fig. 2 and by carrier wave
The figure of relationship between the d shaft currents that the 1/N doubling times in period obtain.
Fig. 5 is to indicate the asynchronous PWM controls in embodiment 1 and the figure of the synchronous PWM carrier cycles controlled.
Fig. 6 is to indicate that carrier cycle different in embodiment 1 divides the figure of the acquisition timing of the measured value under number N.
Fig. 7 is an exemplary figure of the computational methods for indicating the carrier cycle segmentation number N in embodiment 1.
Specific implementation mode
Hereinafter, the embodiments of the present invention will be described with reference to the drawings.
Embodiment 1.
Fig. 1 is the summary frame for indicating the structure comprising motor 101 and its control device involved by embodiment of the present invention 1
Figure.Motor 101 and its control device involved by present embodiment are used for electric vehicle, but the present invention is not limited to electric vehicle,
As long as the industrial products with motor and inverter, can be applicable in.For example, can be adapted for hybrid vehicle, elevator
Deng.
Motor 101 is using the alternating current exported from aftermentioned inverter 102 as input, and output shaft torque,.This implementation
In mode, the output shaft of motor 101 is connected with main drive gear (not shown), and tire (not shown) is via the main transmission tooth
Wheel is driven, to which vehicle is promoted.
The converting direct-current power into alternating-current power that inverter 102 will be exported from aftermentioned dc-battery 103, and by transformed electricity
Power is supplied to motor 101.Inverter 102 includes such as 6 switch elements (such as IGBT), by by pwm signal generator
The conducting and shutdown for the switching signal that 114 operations obtain are acted.
Dc-battery 103 is made of the lithium ion battery that such as rated output is 100V.
The control device of motor 101 includes the rotary transformer 104 being connected with motor 101.Rotary transformer 104
It is the rotation angle detection sensor for detecting the rotation position of motor 101 (such as rotation angle of rotor).Rotate transformation
Device 104 is exported the rotation position detected as rotary transformer angle θ.
Motor 101 is threephase motor, and the control device of motor 101 includes each phase for being set to motor 101
Current sensor 105.Current sensor 105 is the current value for detecting the electric current by motor 101 by three-phase respectively
Current detection sensor.In this specification, as the electric current by motor 101, indicate to flow through with Iu, Iv, Iw respectively
The three-phase electricity flow valuve of motor.In addition, indicating the group (vector) of above-mentioned three-phase electricity flow valuve with Iuvw.In addition, in present embodiment,
It is each mutually respectively there are one current sensor 105, it is total to be provided with 3 current sensors 105, but there are two current senses total
In the case of device, can also obtain with respectively by three-phase come essence phase the case where detecting the current value by the electric current of motor 101
Same effect.
The control device of motor 101 includes drive dynamic control device 106.Drive dynamic control device 106 is by controlling inversion
Device 102 controls the drive control part of the driving of motor 101.Drive dynamic control device 106 is for example by including processor and storage
The computer of device (can also include aftermentioned information storage part 120) is constituted.The processor cooperates with memory, from
And drive dynamic control device 106 executes the processing recorded in this manual, realizes the function of recording in this manual.
Drive dynamic control device 106 based on from vehicle control device 110 torque instruction value Trq_ref, from rotary transformer
The rotary transformer angle θ of 104 outputs, the three-phase electricity flow valuve Iuvw detected by current sensor 105, to calculate voltage instruction
Value Vu, Vv, Vw.Voltage instruction value Vu, Vv, Vw are the command values of the benchmark as switching signal.
In present embodiment, drive dynamic control device 106 includes rotating speed operational part 107 (as variation, rotating speed operational part
107 can be set to the outside of drive dynamic control device 106).Rotating speed operational part 107 is based on rotary transformer angle per unit time
The variation of θ is spent, the rotating speed Rev (such as rotating speed of rotor) of motor 101 is calculated.
In present embodiment, drive dynamic control device 106 includes PWM control methods selector 108 (as variation, PWM controls
Method choice portion 108 processed can be set to the outside of drive dynamic control device 106).PWM control methods selector 108 is according to electronic
The rotating speed Rev of machine 101 selectively determines it is to carry out asynchronous PWM controls, still synchronizes PWM controls.PWM controlling parties
The output of method selector 108 indicates to determine signal (the PWM control methods signal) PWM_Select for carrying out any control.And
And determining that PWM control methods selector 108 determines the 1st controlling cycle in the case of synchronizing PWM controls.1st control
Period processed is for example equal to carrier cycle.
Carrier cycle is the primitive period based on motor 101 and the period determined, is the switch periods of inverter 102.
Carrier cycle is decided to be the 1/M of such as primitive period of motor 101 sometimes (wherein M is positive integer).The value of M can be
Constant can also be the variable for calculating or determining according to rotating speed Rev or other conditions.
The output of PWM control methods selector 108 indicates the signal of the carrier cycle thus determined.It, should in present embodiment
Signal is the control umber of pulse signal Pulse_ of the number for the control pulse for indicating that a primitive period of motor 101 is included
Select。
PWM control methods selector 108 decides whether to carry out the control based on carrier cycle as a result, and is determining
In the case of carrying out the control based on carrier cycle, carrier cycle is determined.
Drive dynamic control device 106 includes current processing portion 109.Current processing portion 109 is according to PWM control method selectors
108 control is controlled.For example, current processing portion 109 is based on 108 selected controlling party of PWM control methods selector
The processing timing (period such as described later, is measured each of after being further split to carrier cycle) of method, obtains stream
Cross current value Iu, Iv, Iw and rotary transformer angle θ of each phase of motor 101.In addition, current processing portion 109 calculates d axis
Current value Id and q shaft current value Iq, and exported.
In present embodiment, the control device of motor 101 includes vehicle control device 110.Vehicle control device 110 is according to driving
The acceleration operation for the person of sailing and the speed of vehicle, the torque instruction value Trq_ref for determining to send out motor 101 by operation etc..
In present embodiment, drive dynamic control device 106 includes current-order generating unit 111 (as variation, current-order
Generating unit 111 can be set to the outside of drive dynamic control device 106).Current-order generating unit 111 is based on torque instruction value Trq_
Ref and rotating speed Rev can export d shaft current command value Id_ref and the q shaft currents of torque instruction value Trq_ref and refer to calculate
Enable value Iq_ref.
Drive dynamic control device 106 includes current control unit 112.Current control unit 112 is according to PWM control method selectors
108 control progress and the relevant operation of current value.In particular, current control unit 112 implements current control operation, so that d axis electricity
Flow valuve Id and q shaft current value Iq follows d shaft current command value Id_ref and q shaft current command value Iq_ref respectively, calculates and defeated
Go out d shaft voltage command value Vd_ref and q shaft voltage command values Vq_ref.The action is equivalent to carry out feedback control, so that by electricity
Current value Iu, Iv, Iw that flow sensor 105 detects follow d shaft current command value Id_ref and q shaft current command values Iq_
ref。
In present embodiment, drive dynamic control device 106 includes voltage control division 113 (as variation, voltage control division
113 can be set to the outside of drive dynamic control device 106).The d axis electricity that voltage control division 113 will be exported from current control unit 112
Pressure command value Vd_ref and q shaft voltage command value Vq_ref is converted into three-phase voltage command value Vu, Vv, Vw and is exported.
The control device of motor 101 includes pwm signal generator 114.Pwm signal generator 114 is based on three-phase voltage
Command value Vu, Vv, Vw generate the switching signal for inverter 102 and are exported.
Drive dynamic control device 106 includes information storage part 120.Information storage part 120 includes the storages such as semiconductor or hard disk
Medium is stored in the information handled in drive dynamic control device 106.
Fig. 2 is the block diagram for the structure for indicating current processing portion 109 in more detail.In present embodiment, current processing portion 109 includes
Cycle operation portion 201 (as variation, cycle operation portion 201 can be set to the outside in current processing portion 109).Cycle operation
Portion 201 calculates or determines carrier cycle segmentation number N (integer that wherein N is 2 or more).In present embodiment, N is based on controlling from PWM
The PWM control method signal PWM_Select and control umber of pulse signal Pulse_Select quilts that method choice portion 108 processed exports
It calculates or determines.
In present embodiment, current processing portion 109 includes electric current/rotary transformer angle acquisition unit 202 (as deformation
Example, electric current/rotary transformer angle acquisition unit 202 can be set to current processing portion 109 outside (but drive control fill
Set in 106)).Electric current/rotary transformer angle acquisition unit 202 is played to be obtained in each defined measurement period (the 2nd controlling cycle)
Take the work(of the measurement control unit of three-phase electricity flow valuve Iu, Iv, Iw of the inverter 102 and rotary transformer angle θ of motor 101
Energy.The acquisition is for example carried out by receiving the measurement signal exported from current sensor 105 and rotary transformer 104.It is based on
Such as the carrier cycle exported from cycle operation portion 201 divides number N to determine to measure the period.As more specific example, measure
Period is 1/N times of carrier cycle.
For example, in the case where having selected carrier cycle to divide number N=3, electric current/rotary transformer angle acquisition unit 202
Trisection is carried out to carrier cycle, obtain as 1/3 times each of of the carrier cycle three-phase electricity flow valuve Iu, Iv for measuring the period,
Iw and rotary transformer angle θ, and read in current processing portion 109.Here, the n times that will occur in each measurement period
The current value of U phases that measures of measurement timing be expressed as Iu (n) (wherein n is the integer of 1≤n of satisfaction≤N).Equally, by V
The current value of phase is expressed as Iv (n), and the current value of W phases is expressed as Iw (n), and rotary transformer angle is expressed as θ (n).
In the following description, the measurement for being included in same carrier cycle in Iu (n), Iv (n), Iw (n), θ (n) is determined
When the starting point of carrier cycle (but not comprising) in earliest timing acquisition to each value be set to Iu (1), Iv (1), Iw
(1),θ(1).That is, each value for getting of terminal in carrier cycle becomes Iu (N), Iv (N), Iw (N), θ (N).
In addition, information storage part 120 (Fig. 1) is stored with carrier cycle and measures the period.For example, can store M's and N
Value, can also store corresponding time span.
Current processing portion 109 includes three-phase/two phase converter 203 (three-phase/two-phase converter section).Three-phase/two phase converter
203 pairs at continuous N number of three-phase electricity flow valuve Iu (n), Iv (n), Iw (n) and the rotary transformer angle that each measurement period gets
It spends θ (n) and carries out three-phase/two-phase conversion, export N number of d shaft current value Id (n) and N number of q shaft current value Iq (n).Three-phase/two-phase turns
It changes and is for example carried out using following formula.
[mathematical expression 1]
Current processing portion 109 includes average value operational part 204.Average value operational part 204 calculates N number of d shaft current value Id (n)
Average value and N number of q shaft current value Iq (n) average value, export average d shaft current value Id_Ave and average q shaft current values Iq_
Ave.For example, in the case where having selected carrier cycle to divide number N=3, average d shaft current value Id_Ave conducts
Id_Ave=(1/3) × { Id (1)+Id (2)+Id (3) }
It is acquired.Average q shaft current values Iq_Ave is also the same.
Current processing portion 109 includes calculus of differences portion 205.205 operation of calculus of differences portion is from three-phase/two phase converter 203
N number of d shaft current value Id (n) of output, d shaft current value Id (N), the q axis got respectively in n-th in q shaft current value Iq (n)
Current value Iq (N) and the average d shaft currents value Id_Ave, the average q shaft current values Iq_Ave that are exported from average value operational part 204 it
Difference, and export d shaft current difference Id_Delta, the q shaft current difference Iq_Delta for indicating each difference.For example, having selected to carry
In the case that wave period divides number N=3, d shaft current difference Id_Delta becomes
Id_Delta=Id_Ave-Id (3)
.Q shaft current difference Iq_Delta is also the same.
In addition, in above-mentioned example, by the d shaft current value Id (N) finally obtained and q shaft current value Iq (N) as benchmark
Difference is calculated, but different according to the starting point of carrier cycle and the difference of the definition of terminal as the current value of benchmark.According to more
Common statement, calculus of differences portion 205 calculates in N number of d shaft current value Id (n) (to be had in timing corresponding with carrier cycle
The periodically timing in period identical with carrier cycle.For example, it may be the current differential value of control pulse is from negative or 0 becomes just
Timing, can control the current differential value of pulse from just or 0 becomes negative timing, can also be other timings) obtain
To d shaft currents value (be set to k-th of d shaft current value Id (k).Wherein, k is the integer of 1≤k of satisfaction≤N, above-mentioned specific
K=N in example) difference with average d shaft current values Id_Ave, it is used as d shaft current difference Id_Delta, and it is electric to calculate N number of q axis
The difference of k-th of q shaft current value Iq (k) and average q shaft current values Id_Ave in flow valuve Iq (n), is used as q shaft current difference
Iq_Delta。
Current processing portion 109 includes being filtered portion 206.Portion 206 is filtered to the d that is exported from calculus of differences portion 205
Shaft current difference Id_Delta and q shaft current difference Iq_Delta implements a low-pass filtering treatment (such as low-pass filtering respectively
Processing), and export d shaft current corrected value Id_Fix and q shaft current corrected values Iq_Fix.For tighter, it is filtered portion 206
The time sequential value of time sequential value and q shaft current difference Iq_Delta to d shaft current difference Id_Delta carries out low pass filtered
Wave processing obtains the time sequential value of d shaft current corrected values Id_Fix and the time sequential value of q shaft current corrected values Iq_Fix.
The response of low-pass filter can be set as lower than the response of current control unit 112.It can mitigate to current control as a result,
The influence of the control response of Current Feedback Control in portion 112.
Current processing portion 109 includes correction calculation section 207.The utilization of correction calculation section 207 is exported from the portion that is filtered 206
D shaft currents corrected value Id_Fix, q shaft current corrected value Iq_Fix is to N number of d shaft currents for being exported from three-phase/two phase converter 203
In identical (or closest to the timing) carrier cycle of processing timing with current control unit 112 in Id (n), q shaft current Iq (n)
D shaft current Id (k), the q shaft current Iq (k) that phase gets are corrected operation, and d shaft currents Id, the q axis electricity of correction is completed in output
Flow Iq.For example, identical in the execution period and carrier cycle for having selected carrier cycle segmentation number N=3, current control unit 112
In the case of, d shaft currents Id becomes
Id=Id (3)+Id_Fix
.Q shaft current values Iq is also the same.
According to more common statement, correction calculation section 207 carries out k-th of d shaft current value Id (k) and d shaft current corrected values
The linear operation (be addition in above-mentioned example, but can be subtraction, can also be other linear operations) of Id_Fix, has exported
At the d shaft current value Id of correction, also, carry out the linear fortune of k-th q shaft current value Iq (k) and q shaft current corrected values Iq_Fix
It calculates and (is addition in above-mentioned example, but can be subtraction, can also be other linear operations), the q axis electricity of correction is completed in output
Flow valuve Iq.
Fig. 3 is to indicate that electric current/rotary transformer angle acquisition unit 202 obtains the figure of the acquisition timing of measured value.Specifically shown electricity
Three-phase electricity flow valuve Iuvw, the acquisition timing of rotary transformer angle θ and its elsewhere in stream/rotary transformer angle acquisition unit 202
Reason (such as three-phase/two phase converter 203, average value operational part 204, calculus of differences portion 205, be filtered portion 206, correction fortune
The processing in calculation portion 207 etc.) period.
For example, as the comparative example that the present invention does not include, in the case where carrier cycle divides number N=1, only each
Carrier cycle obtains three-phase electricity flow valuve Iuvw, rotary transformer angle θ.On the other hand, in carrier cycle as in the present invention
In the case of dividing number N=3, each of 1/3 times in carrier cycle measures period acquisition three-phase electricity flow valuve Iuvw, rotation transformation
Device angle, θ.
In addition, in present embodiment, for the N number of three-phase electricity got in electric current/rotary transformer angle acquisition unit 202
Flow valuve Iuvw (n), rotary transformer angle θ (n), carried out together to correction calculation section 207 from three-phase/two phase converter 203 from
Reason, but above-mentioned a series of processing can also be handled in each carrier cycle, it can also be by for example longer than carrier cycle
Period handled.
Fig. 4 is to indicate the d shaft currents obtained by carrier cycle by electric current/rotary transformer angle acquisition unit of Fig. 2 and by carrier wave
The figure of relationship between the d shaft currents that the 1/N doubling times in period obtain.It shows average value operational part 204 and calculus of differences portion
An example of the calculation process of N number of d shaft currents value and N number of q shaft currents value in 205.It is superimposed with electricity in the exemplary d shaft currents
6 times of harmonic component of the fundamental frequency of motivation.The figure is the example when rotating speed of motor 101 is higher, is superimposed with harmonic wave point
The period of the d shaft currents of amount is consistent with carrier cycle.In general, it is believed that be superimposed on dq shaft currents because of motor
Harmonic wave caused by fundamental frequency is 6 times, 12 times, 18 times etc..The amplitude of the harmonic component of these known motor and phase because
The difference of the characteristic of motor and it is different.For example, in some motor, the amplitude of 6 times of harmonic waves is more than 12 times of harmonic waves, but different
In the motor of characteristic, the amplitude of 12 times of harmonic waves is sometimes more than the amplitude of 6 times of harmonic waves.Furthermore it is known that the amplitude of the harmonic wave, phase
Characteristic it is different due to the difference of the rotating speed of motor.
In Fig. 4, practical d shaft currents value 401 is set as the d shaft current values obtained when infinity with by carrier cycle segmentation number N
It is consistent.
Above-mentioned k-th of d shaft current value Id (k) is indicated with the d shaft currents value 402 of "●" marked.Because of the influence of aliasing
And it is superimposed with DC component, always detect the value for the central value for deviateing practical d shaft currents value 401.This can be referred to as flase drop
It surveys.
Above-mentioned Id (n) (wherein 1≤n is indicated with the d shaft currents 403 of "○" marked obtained in each measurement period
≤ N) (tighter for, including with the d shaft currents value 402 of "●" marked).Fig. 4 shows that n times obtain d in carrier cycle
The case where shaft current value.
Average d shaft currents value 404 is on each average value for measuring the d shaft current value Id (n) that the period gets, expression
State Id_Ave.This is calculated for example based on the N number of d shaft current value Id (n) got in each measurement period using following formula
It arrives.
[mathematical expression 2]
It may be said that fully simulating reality in each average value Id_Ave for measuring the d shaft current value Id (n) that the period gets
The DC component of border d shaft currents value 401.
Difference 405 is indicated in the case where the process cycle of current control unit 112 and carrier cycle are same period, every
The d shaft current value Id (k) that a carrier cycle is got and being averaged in each measurement d shaft current value Id (n) for getting of period
Difference Id_Delta between value Id_Ave.Difference 405 indicate in the d shaft current Id (k) that each carrier cycle is got because
Aliasing and the error generated.
It is filtered portion 206 and a low-pass filtering treatment for example is carried out to d shaft current difference Id_Delta, obtain d axis
Current correction values Id_Fix.Even if in several d shaft currents values in having got N number of d shaft currents value because that noise etc. influences is big
In the case of the value of the big d shaft current values that lose contact with reality, also the disengaging can be inhibited to d axis by implementing a low-pass filtering treatment
The influence that current-differencing Id_Delta is generated.Identical processing is also carried out for q shaft currents value.
D shaft current corrected value Id_Fix are by the corrected value as the d shaft current value Id (k) got in each carrier cycle
To use.D shaft current value Id (k) plus or minus d axis electricity of the correction calculation section 207 for example to being got in each carrier cycle
Flow corrected value Id_Fix.D shaft currents Id after correction becomes the d shaft currents Id used by current control unit 112.Current control unit
112 carry out PI controls so that output, that is, d shaft current command values of d shaft currents Id and current-order generating unit 111 after correction
Id_ref is consistent.It is also the same for q shaft currents.
Fig. 5 is asynchronous PWM controls and the figure of the synchronous PWM carrier cycles controlled illustrated in PWM controls.
In general, the electrical angle 501 of motor 101 with 0~360deg be a period.The also referred to as primitive period.
In the case of more, the cycle set of the carrier wave 502 during asynchronous PWM is controlled is the base compared to motor 101
The wave period period short enough.Current control unit 112 and voltage control division 113 can be performed a plurality of times within the primitive period of motor
Processing, thus while for the tracing ability of the d shaft current command value Id_ref and q shaft current command values Iq_ref as target
(controlling) is more excellent, but since the period of each carrier wave is shorter, it is thus possible to can be because of conditions such as the performances of microcomputer not
Situation that is same and generating processing capacity deficiency.
An exemplary carrier wave 503 as the carrier wave in synchronous PWM controls has within the primitive period of motor 101
12 carrier cycles, that is, realize 12 Pulse Width Controls.The carrier number of each primitive period of fixed motor namely refer to fixed electricity
The execution number for the processing that the current control unit 112 and voltage control division 113 of each primitive period of motivation 101 is carried out.By
This, the extensive rotary speed area that can be obtained to motor 101 maintains certain controlling, but turns with motor 101
The increase of speed, the primitive period of motor 101 shorten, and the period of each pulse (carrier wave) of synchronous PWM controls also becomes
It is short therefore identical as asynchronous PWM controls, the situation of the processing capacity deficiency of microcomputer may be generated because of the difference of condition.
Other exemplary carrier waves 504 of carrier wave as synchronous PWM controls have 6 within the primitive period of motor 101
A carrier wave realizes 6 Pulse Width Controls.In order to which the processing capacity for solving the microcomputer illustrated about carrier wave 502 and carrier wave 503 is insufficient
The problem of, in synchronous PWM controls, preferably suitably change the umber of pulse (carrier number) in the primitive period of motor 101.Becoming
Preferably using the rotating speed Rev of motor 101 as benchmark when more umber of pulse.
However, subtracting with umber of pulse (carrier number=carrier cycle divides number N) in the primitive period of motor 101
Few, the period (period of each pulse) and the period of the harmonic component of three-phase current for obtaining three-phase electricity flow valuve Iuvw become to connect
Closely, it is therefore possible to completely remove the influence of aliasing when obtaining electric current, meeting flase drop measures the value deviateed with virtual condition.
Therefore, as carrier cycle segmentation number N becomes smaller, if increasing the acquisition time of the three-phase electricity flow valuve Iuvw in carrier cycle
Number then has the possibility for the generation that can inhibit aliasing.It is preferably set to obtain the number of three-phase electricity flow valuve Iuvw no more than micro-
The upper limit of the processing capacity of machine etc..
In the structure of present embodiment, in the case where having selected synchronous PWM to control, by carrying out N to carrier cycle
Decile, to have the possibility for the influence that can mitigate or exclude aliasing.Fig. 6 shows base when selection carrier cycle segmentation number N
An accurate example.
Fig. 6 is to indicate that carrier cycle different in embodiment 1 divides the figure of the acquisition timing of the measured value under number N.Utilize this
Figure can mitigate to the harmonic component of three-phase current and effectively or exclude the carrier cycle of the influence of aliasing caused by the harmonic component
Relationship between phase segmentation number N illustrates.
In Fig. 6, used with the harmonic wave of 6 overtones bands (1/6 period of primitive period) of the basic frequency for motor 101
For the case where 6 Pulse Width Control in synchronous PWM controls.
Aliasing occurs, and is superimposed on d shaft currents and generates practical d shaft currents value 401.The ratio not included as the present invention
Compared with example, in a case of n=1, the d shaft currents value 601 with "○" marked is the d axis being calculated in each carrier cycle
Current value, but include the influence of aliasing, and deviate the central value of practical d shaft currents value 401.The average value of d shaft currents value 601
(thick single dotted broken line) deviates the average value (being shown with fine line) of practical d shaft currents value 401.
As the present invention an example, in the case of N=2, the d shaft currents value 602 with " " marked be by
The d shaft current values that 1/2 doubling time of carrier cycle is calculated.By calculate d shaft currents value 602 average value, can mitigate or
Exclude the influence of aliasing.The average value (thick single dotted broken line) of d shaft currents value 602 and practical d shaft currents value 401 average value (with
Fine line is shown) it is consistent.
As the present invention other examples, in the case of N=3, the d shaft currents value 603 with " △ " marked be by
The d shaft current values that 1/3 doubling time of carrier cycle is calculated.By calculate d shaft currents value 603 average value, can mitigate or
Exclude the influence of aliasing.The average value (thick single dotted broken line) of d shaft currents value 603 and practical d shaft currents value 401 average value (with
Fine line is shown) it is consistent.
What Fig. 6 used above was carried out is similarly applicable in q shaft currents with the relevant explanation of d shaft currents completely.
I.e., it is known that in the harmonic wave for 6 overtones bands (1/6 period of primitive period) for being superimposed the basic frequency of motor 101
In the case of, it can be by selecting carrier cycle to divide number N=2 or N=3, to mitigate or exclude the influence of aliasing.When selection carrier wave
When frequency divides number N, whenever N increases, the computational load of microcomputer also increases, therefore preferably in the range that can get same effect
The value of interior selection N as small as possible.Equally, for 12 times of the fundamental frequency of motor, 18 times of harmonic component, there is also energy
Mitigate or exclude the best carrier cycle segmentation number N of aliasing.
For example, the feelings for the integral multiple that the number in harmonic wave divided by the obtained value of the control umber of pulse per the primitive period are N
Under condition, compared with the case where not being the integral multiple of N, the effect that aliasing reduces dies down.More specifically, in the example of fig. 6, humorous
The number of wave be 6, per the primitive period control umber of pulse also be 6, therefore their result of division be 1, selected N=2 and
In the case of selected N=3 two kinds, the effect that aliasing reduces can be expected.It is 12 in the number of harmonic wave as other examples,
Per the primitive period control umber of pulse be 6 in the case of, their result of division be 2, it be 2 integral multiple but be not 3 it is whole
Several times, therefore in the case where having selected N=2, the effect that aliasing reduces dies down, and in the case where having selected N=3, can expect
The effect that aliasing reduces.Also, it is 18 in the number of harmonic wave, the control umber of pulse per the primitive period is 6 as other examples
In the case of, their result of division is 3, it is not 2 integral multiple but 3 integral multiple, therefore the case where having selected N=2
Under, it can expect the effect that aliasing reduces, in the case where having selected N=3, the effect that aliasing reduces dies down.
Selection benchmark as carrier cycle segmentation number N in this case, it is considered preferred to the characteristic of motor 101.For example,
By obtaining the waveform of the three-phase electricity flow valuve of motor 101, and the waveform to getting carries out Fourier transformation, carrys out computational rules
Harmonic wave (such as each harmonic wave of 6 times, 12 times of the fundamental frequency with motor 101 and 18 overtones bands) amplitude.Then,
Selection can mitigate the N of aliasing caused by the maximum harmonic wave of amplitude.Above-mentioned action can be executed by drive dynamic control device 106,
Can also independent structural element be separately set to execute.
When selecting carrier cycle to divide number N, preferably with the rotating speed Rev of motor 101, synchronous PWM controls when pulse
Number or their both sides are as benchmark.For example, PWM control methods selector 108 can be according to per primitive period of motor 101
The number of carrier cycle and the rotating speed Rev of motor 101 at least one party calculate N.
When controlling motor 101, determine to select asynchronous PWM to control according to the rotating speed Rev of motor 101 in the case of more
Which of system and synchronous PWM controls are used as control method and umber of pulse are set as how many.Therefore, cycle operation portion 201
In, control umber of pulse signal Pulse_Select when rotating speed Rev based on motor 101 or synchronous PWM controls etc. is selected
Carrier cycle divides number N.
Fig. 7 is an exemplary figure of the computational methods for indicating the carrier cycle segmentation number N in embodiment 1.Thick broken line indicates
The variation of carrier cycle segmentation number N corresponding with motor speed Rev.Carrier cycle segmentation number N can be utilized for example as a result,
Motor speed Rev one-dimensional maps as input are calculated.Alternatively, carrier cycle segmentation number N can be controlled according to PWM
Method signal PWM_Select processed is calculated or is determined.Alternatively, carrier cycle segmentation number N can be according to control umber of pulse signal
Pulse_Sele ct are calculated or are determined.Alternatively, can utilize PWM control method signal PWM_Select and control pulse
The combined two-dimensional maps of signal Pulse_Select are counted to determine.
The harmonic component of the fundamental frequency of the known motor for being superimposed on three-phase current or d shaft currents (or q shaft currents)
Characteristic changes according to the characteristic and rotating speed Rev of motor 101.Therefore, in order to mitigate aliasing and according to the characteristic of motor 101
And rotating speed Rev holds effective carrier cycle segmentation number N, predefined carrier cycle segmentation corresponding with various conditions in advance
The value (such as being stored in information storage part 120) of number N, so as to inhibit the increase of MICROCOMPUTER PROCESSING, and can mitigate the influence of aliasing.
As described above, the control device of the motor involved by embodiment of the present invention 1, can be more appropriate
Ground mitigates the influence of aliasing.For example, can mitigate mixed in the case where not damaging the control stability of existing Current Feedback Control
Folded influence.In addition, the influence of aliasing can be inhibited according to the characteristic of motor.
Due to not only carrying out low-pass filtering treatment to the average value of electric current, also calculate the value of low-pass filtered processing with it is specific
The difference of the current value (k-th of d shaft currents value and k-th of q shaft currents value) of timing is used as corrected value, therefore can be applied to more
Appropriate control.
For example, by the way that difference is used as corrected value, delay caused by current value (such as d shaft currents value 402) can be inhibited,
The response of Current Feedback Control can be improved.Assuming that will average d shaft current value Id_Ave and average q shaft current value Iq_Ave conducts
The input of feedback control then can generate delay because obtaining rolling average, may result in the response hair of Current Feedback Control
It is raw to deteriorate, but the above situation is avoided that according to embodiment of the present invention 1.
In addition, in embodiment 1, the response of low-pass filtering treatment is lower than the response of current control unit, therefore energy
Mitigate the influence to the control response of the Current Feedback Control in current control unit 112.It is assumed that portion 206 will be filtered
In low-pass filter response be set as the response of current control unit or more in the case of, possible d shaft currents difference Id_
Delta and q shaft current difference Iq_Delta has vibratility, or becomes quick to external disturbance (such as value when sampling is jumped)
Sense, therefore controlling is it some times happens that deteriorate, but be avoided that the above situation according to embodiment 1.In addition, referring to for being directed to torque
The tracing ability of the current control of value Trq_ref, the response of current control side is enabled to be likely to become bottleneck, therefore even if by filtering
The response in reason portion is increased to the response of current control or more, and the tracing ability of torque instruction value Trq_ref will not improve.
In addition, according to the embodiment of the present invention 1, be not by low-pass filtered treated value in each carrier cycle
The d shaft currents (or q shaft currents) that phase gets are added merely, and directly utilize the structure for the result being added, therefore DC component
It will not become twice, the control stability of current control will not be deteriorated.
According to the embodiment of the present invention 1, high-pass filtering processing do not implemented to detection electric current, therefore can rejects trap
Delay.
In addition, in embodiment 1, it is convenient to omit PWM control methods selector 108.In this case, current processing portion 109
And current control unit 112 is configured to execute synchronous PWM controls always, in addition, the control of per primitive period of motor 101
Umber of pulse can be fixed number.
Label declaration
101 motor, 102 inverters, 104 rotary transformers (rotation angle detection sensor), 105 current sensors (electricity
Flow detection sensor), 106 drive dynamic control devices (drive control part), 107 rotating speed operational parts, 108PWM control methods selector,
109 current processing portions, 120 information storage parts, 202 electric currents/rotary transformer angle acquisition unit, 203 three-phases/two phase converter
(three-phase/two-phase converter section), 204 average value operational parts, 205 calculus of differences portions, 206 are filtered portion, 207 correction calculation sections.
Claims (4)
1. a kind of control device of motor, including：
Drive control part, the drive control part is by controlling the inverter being powered to motor, to control the motor
Driving；
Rotation angle detection sensor, the rotation angle detection sensor are used to detect the rotation position of the motor；And
Current detection sensor, the current detection sensor are used to detect the electricity of the electric current by the motor respectively by three-phase
The control device of flow valuve, the motor is characterized in that,
The drive control part includes：
Current control unit, the current control unit carry out feedback control so that the current value detected follows current instruction value；
Information storage part, the information storage part store 1st controlling cycle equal with switch periods, that is, carrier cycle of inverter
And 1/N times of the 2nd controlling cycle as the 1st controlling cycle, the integer that wherein N is 2 or more；
Measure control unit, the measurement control unit each 2nd controlling cycle obtain the inverter three-phase electricity flow valuve and
The rotation position of the motor；And
Current processing portion, which carries out and the relevant operation of current value,
The current processing portion includes：
Three-phase/two-phase converter section, the three-phase/two-phase converter section are continuous N number of to being got in each 2nd controlling cycle
The three-phase electricity flow valuve and the rotation position carry out three-phase/two-phase conversion, export N number of d shaft currents value and N number of q shaft currents value；
Average value operational part, the average value operational part calculate the average value of N number of d shaft currents value and N number of q shaft currents value
Average value；
Calculus of differences portion, the calculus of differences portion calculate in N number of d shaft currents value corresponding with the 1st controlling cycle
The difference of the average value of k-th of d shaft currents value and the d shaft currents value that arrives of timing acquisition, be used as d shaft current difference, and
And the difference of the average value of k-th of the q shaft currents value and the q shaft currents value in calculating N number of q shaft currents value, it is used as q axis
Current-differencing, wherein k are the integer for meeting 1≤k≤N；
It is filtered portion, this is filtered portion and implements at low-pass filtering to the d shaft currents difference and the q shaft currents difference
Reason exports d shaft currents corrected value and q shaft current corrected values；And
Correction calculation section, the correction calculation section carry out the linear fortune of k-th of d shaft currents value and the d shaft currents corrected value
It calculates, the d shaft current values of correction are completed in output, and carry out the line of k-th of q shaft currents value and the q shaft currents corrected value
Property operation, output complete correction q shaft current values.
2. the control device of motor as described in claim 1, which is characterized in that
The drive control part further includes PWM control method selectors, which carries out PWM to inverter
The motor is controlled and controls,
The current control unit is controlled according to the control of the PWM control methods selector.
3. the control device of motor as claimed in claim 2, which is characterized in that
The PWM control methods selector according to the number of the carrier cycle of per primitive period of the motor with it is described electronic
At least one party in the rotating speed of machine calculates N.
4. the control device of motor as described in any one of claim 1 to 3, which is characterized in that
The response of the low-pass filtering treatment is lower than the response of the current control unit.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
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| JP2017-084264 | 2017-04-21 | ||
| JP2017084264A JP6316481B1 (en) | 2017-04-21 | 2017-04-21 | Electric motor control device |
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| CN108736786A true CN108736786A (en) | 2018-11-02 |
| CN108736786B CN108736786B (en) | 2021-09-24 |
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| US (1) | US10199972B2 (en) |
| JP (1) | JP6316481B1 (en) |
| CN (1) | CN108736786B (en) |
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|---|---|---|---|---|
| CN112448619A (en) * | 2019-09-04 | 2021-03-05 | 青岛海尔空调电子有限公司 | Phase current detection method of motor based on PWM control and air conditioner |
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| WO2018123453A1 (en) * | 2016-12-28 | 2018-07-05 | アルプス電気株式会社 | Device and method for acquiring information relating to rotation of direct current commutator motor motor |
| EP3654524B1 (en) * | 2018-11-14 | 2022-01-05 | Bayerische Motoren Werke Aktiengesellschaft | Method and device for operating an electric motor |
| JP6641053B1 (en) * | 2019-04-25 | 2020-02-05 | 三菱電機株式会社 | Electric motor control device and electric power steering device |
| JP7419939B2 (en) | 2020-04-03 | 2024-01-23 | 株式会社Ｇｓユアサ | Energy storage element management device, energy storage element measurement method, and energy storage device |
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| JP2018183007A (en) | 2018-11-15 |
| US20180309399A1 (en) | 2018-10-25 |
| JP6316481B1 (en) | 2018-04-25 |
| CN108736786B (en) | 2021-09-24 |
| DE102018205192A1 (en) | 2018-10-25 |
| US10199972B2 (en) | 2019-02-05 |
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